Legal claims defining the scope of protection. Each claim is shown in both the original legal language and a plain English translation.
1. A drive assist apparatus in a vehicle, the driving assist apparatus having a prediction information acquisition section that successively acquires prediction information at a time point from an in-vehicle information detection portion, the prediction information being enabled to be transmitted via inter-vehicle communications using radio communication, the drive assist apparatus in the vehicle being configured to communicate via the inter-vehicle communications with any one of a plurality of different drive assist apparatuses that are individually in a plurality of different vehicles, each different drive assist apparatus having a same function as a function of the drive assist apparatus in the vehicle, wherein when the different vehicle mounting the different drive assist apparatus is a leading vehicle ahead of the vehicle, the vehicle is caused to trail the leading vehicle on a basis of prediction information that is received from the different drive assist apparatus in the leading vehicle, the drive assist apparatus comprising: a via-point prediction section to obtain a predicted via-point of the vehicle where the vehicle exists from a time point to a future time point on a basis of prediction information at the time point acquired by the prediction information acquisition section, the prediction information at the time point containing at least a position at which the vehicle exists at the time point; a difference determination section that, when the prediction information acquisition section newly acquires second prediction information at a second time point that is later than a first time point, obtains a difference between (i) a predicted via-point of the vehicle predicted at the second time point between the first time point and the future time point on a basis of first prediction information at the first time point, the first prediction information at the first time point being acquired at the first time point by the prediction information acquisition section and being already transmitted via the inter-vehicle communications and (ii) a position, at which the vehicle exists at the second time point, obtained on a basis of the second prediction information at the second time point, the difference determination section further determining whether the obtained difference is a predetermined value or more; a transmission determination section that determines that the second prediction information newly acquired is transmitted when the difference determination section determines that the difference is the predetermined value or more, and determines that the second prediction information newly acquired is not transmitted when the difference determination section determines that the difference is not the predetermined value or more; a path prediction section that predicts a future vehicle-traveling path of the vehicle from predicted via-points of the vehicle successively obtained by the via-point prediction section; a deviation point search section that performs a search for a deviation point based on (i) a position of each of the leading vehicles contained in the prediction information of the each of the leading vehicles and (ii) the predicted future vehicle-traveling path of the vehicle predicted by the path prediction section, the deviation point being a point at which the leading vehicle starts to deviate from the predicted future vehicle-traveling path of the vehicle; and an effective range determination section that determines, when the deviation point is obtained by the search of the deviation point search section, an effective range of the prediction information on a basis of the deviation point that is obtained by the search of the deviation point search section, the effective range of the prediction information being a range where the prediction information transmitted from the vehicle is effective in obtaining a predicted via-point of the vehicle, wherein the effective range of the prediction information determined by the effective range determination section is also transmitted when the prediction information is transmitted from the vehicle via the inter-vehicle communications.
A drive assist system for vehicles uses inter-vehicle communication to enable vehicles to follow a lead vehicle. Each vehicle shares its predicted future location. The system predicts the future path of the vehicle and searches for points where the lead vehicle deviates from this predicted path. It then determines an effective range for the prediction information based on this deviation point, which determines how far ahead the prediction is valid. The system only transmits new prediction information if the difference between the previously transmitted predicted location and the current location exceeds a threshold. The effective range is transmitted with the location predictions to other vehicles to improve their following behavior.
2. The drive assist apparatus according to claim 1 , further comprising: a communication target identification section to identify a subject different drive assist apparatus being any one of the plurality of different drive assist apparatuses in the different vehicles with which the inter-vehicle communications are enabled, on a basis of reception of information from the subject different drive assist apparatus, wherein: in cases that the subject different drive assist apparatus is identified by the communication target identification section newly after the first prediction information at the first time point is transmitted via the inter-vehicle communications, the second prediction information at the second information newly acquired by the prediction information acquisition section is transmitted even when the transmission determination section determines that the second prediction information is not transmitted.
In the drive assist system described, which uses inter-vehicle communication to enable vehicles to follow a lead vehicle by sharing predicted future locations and effective ranges, the system identifies new vehicles it can communicate with. If a new vehicle is detected after initial prediction data was sent, the system immediately transmits the updated location information, even if the change in location is below the normal threshold for transmission. This ensures newly detected vehicles quickly receive the most up-to-date information for accurate following.
3. The drive assist apparatus according to claim 1 , wherein: in cases where the effective range of the prediction information determined by the effective range determination section changes by a predetermined value or more after the first prediction information is transmitted via the inter-vehicle communications, even when the transmission determination section determines that the second prediction information is not transmitted, the second prediction information newly acquired by the prediction information acquisition section is transmitted.
In the drive assist system described, which uses inter-vehicle communication to enable vehicles to follow a lead vehicle by sharing predicted future locations and effective ranges, the system monitors the effective range of its location predictions. If the effective range changes significantly after initial data transmission, the system immediately transmits updated location information, even if the normal location change threshold hasn't been reached. This ensures other vehicles receive current effective range data needed for accurate following.
4. The drive assist apparatus according to claim 1 , wherein: when the prediction information and the effective range of the prediction information are received from the different drive assist apparatus mounted to the leading vehicle nearest to the vehicle, the vehicle is caused to trail the leading vehicle with a first inter-vehicle distance to the leading vehicle on a basis of the prediction information received from the different drive assist apparatus, whereas the vehicle is caused to trail the leading vehicle with a second inter-vehicle distance to the leading vehicle longer than the first inter-vehicle distance when a distance needing to go beyond the effective range becomes a predetermined value or below.
In the drive assist system described, which uses inter-vehicle communication to enable vehicles to follow a lead vehicle by sharing predicted future locations and effective ranges, the following vehicle maintains a first, closer following distance when the lead vehicle's prediction information is reliable (within the effective range). However, if the following vehicle approaches the edge of the lead vehicle's effective range, it increases its following distance to a second, safer distance. This provides a safety buffer when the lead vehicle's predictions become less certain.
5. The drive assist apparatus according to claim 1 , wherein: when the deviation point search section performs the search for the deviation point where the leading vehicle starts to deviate from the future vehicle-traveling path of the vehicle, the effective range determination section predicts a time point for the vehicle to reach the deviation point, and determines the predicted time point as the effective range.
In the drive assist system described, which uses inter-vehicle communication to enable vehicles to follow a lead vehicle by sharing predicted future locations and effective ranges, the system calculates the effective range by estimating the time it will take the vehicle to reach the point where the lead vehicle begins to deviate from the predicted path. This predicted time to deviation is then used as the effective range for the transmitted location data, providing a temporal measure of prediction reliability.
6. The drive assist apparatus according to claim 1 , wherein: when the deviation point search section performs the search for the deviation point where the leading vehicle starts to deviate from the future vehicle-traveling path of the vehicle, the effective range determination section determines, as the effective range, positional information indicating the deviation point obtained by the search performed by the deviation point search section.
In the drive assist system described, which uses inter-vehicle communication to enable vehicles to follow a lead vehicle by sharing predicted future locations and effective ranges, the system defines the effective range as the physical location where the lead vehicle begins to deviate from the predicted path. This deviation point is determined by comparing the lead vehicle's actual location against the following vehicle's predicted path. The location of this deviation point is then sent as the effective range, indicating the spatial boundary of reliable prediction.
7. A drive assist system comprising: the drive assist apparatus according to claim 1 mounted to each of a plurality of vehicles.
A drive assist system consists of multiple vehicles, each equipped with the drive assist apparatus described, which uses inter-vehicle communication to enable vehicles to follow a lead vehicle. Each vehicle shares its predicted future location. The system predicts the future path of the vehicle and searches for points where the lead vehicle deviates from this predicted path. It then determines an effective range for the prediction information based on this deviation point, which determines how far ahead the prediction is valid. The system only transmits new prediction information if the difference between the previously transmitted predicted location and the current location exceeds a threshold. The effective range is transmitted with the location predictions to other vehicles to improve their following behavior.
8. A drive assist apparatus in a vehicle, the drive assist apparatus having a prediction information acquisition section that successively acquires prediction information at a time point from an in-vehicle information detection portion, the prediction information being enabled to be transmitted via inter-vehicle communications using radio communications, the drive assist apparatus in the vehicle being configured to communicate via the inter-vehicle communications with any one of a plurality of different drive assist apparatuses that are in a plurality of different vehicles, each different drive assist apparatus having a same function as a function of the drive assist apparatus in the vehicle, wherein when the different vehicle mounting the different drive assist apparatus is a leading vehicle ahead of the vehicle, the vehicle is caused to trail the leading vehicle on a basis of prediction information that is received from the different drive assist apparatus in the leading vehicle, the drive assist apparatus comprising: a via-point prediction section to obtain a predicted via-point of the vehicle where the vehicle exists from a time point to a future time point on a basis of prediction information at the time point acquired by the prediction information acquisition section, the prediction information at the time point containing at least a position at which the vehicle exists at the time point; a path prediction section that predicts a future vehicle-traveling path of the vehicle from predicted via-points of the vehicle successively obtained by the via-point prediction section; a deviation point search section that performs a search for a deviation point based on (i) a position of each of the leading vehicles contained in the prediction information of the each of the leading vehicles and (ii) the predicted future vehicle-traveling path of the vehicle predicted by the path prediction section, the deviation point being a point at which the leading vehicle starts to deviate from the predicted future vehicle-traveling path of the vehicle; and an effective range determination section that determines, when the deviation point is obtained by the search of the deviation point search section, an effective range of the prediction information on a basis of the deviation point that is obtained by the search of the deviation point search section, the effective range of the prediction information being a range where the prediction information transmitted from the vehicle is effective in obtaining a predicted via-point of the vehicle, wherein the effective range of the prediction information determined by the effective range determination section is also transmitted when the prediction information is transmitted from the vehicle via the inter-vehicle communications.
A drive assist system for vehicles uses inter-vehicle communication to enable vehicles to follow a lead vehicle. Each vehicle shares its predicted future location. The system predicts the future path of the vehicle and searches for points where the lead vehicle deviates from this predicted path. It then determines an effective range for the prediction information based on this deviation point, which determines how far ahead the prediction is valid. The effective range is transmitted with the location predictions to other vehicles to improve their following behavior.
9. The drive assist apparatus according to claim 8 , wherein: when the prediction information and the effective range of the prediction information are received from the different drive assist apparatus mounted to the leading vehicle nearest to the vehicle, the vehicle is caused to trail the leading vehicle with a first inter-vehicle distance to the leading vehicle on a basis of the prediction information received from the different drive assist apparatus, whereas the vehicle is caused to trail the leading vehicle with a second inter-vehicle distance to the leading vehicle longer than the first inter-vehicle distance when a distance needing to go beyond the effective range becomes a predetermined value or below.
In the drive assist system described, which uses inter-vehicle communication to enable vehicles to follow a lead vehicle by sharing predicted future locations and effective ranges, the following vehicle maintains a first, closer following distance when the lead vehicle's prediction information is reliable (within the effective range). However, if the following vehicle approaches the edge of the lead vehicle's effective range, it increases its following distance to a second, safer distance. This provides a safety buffer when the lead vehicle's predictions become less certain.
10. The drive assist apparatus according to claim 9 , wherein: when the deviation point search section performs the search for the deviation point where the leading vehicle starts to deviate from the future vehicle-traveling path of the vehicle, the effective range determination section predicts a time point for the vehicle to reach the deviation point, and determines the predicted time point as the effective range.
In the drive assist system described, which uses inter-vehicle communication to enable vehicles to follow a lead vehicle by sharing predicted future locations and effective ranges, and adjusting following distance based on the effective range, the system calculates the effective range by estimating the time it will take the vehicle to reach the point where the lead vehicle begins to deviate from the predicted path. This predicted time to deviation is then used as the effective range for the transmitted location data, providing a temporal measure of prediction reliability.
11. The drive assist apparatus according to claim 9 , wherein: when the deviation point search section performs the search for the deviation point where the leading vehicle starts to deviate from the future vehicle-traveling path of the vehicle, the effective range determination section determines, as the effective range, positional information indicating the deviation point obtained by the search performed by the deviation point search section.
In the drive assist system described, which uses inter-vehicle communication to enable vehicles to follow a lead vehicle by sharing predicted future locations and effective ranges, and adjusting following distance based on the effective range, the system defines the effective range as the physical location where the lead vehicle begins to deviate from the predicted path. This deviation point is determined by comparing the lead vehicle's actual location against the following vehicle's predicted path. The location of this deviation point is then sent as the effective range, indicating the spatial boundary of reliable prediction.
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November 11, 2014
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